CN111631910A - Folding lower limb joint rehabilitation training device - Google Patents
Folding lower limb joint rehabilitation training device Download PDFInfo
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- CN111631910A CN111631910A CN202010507407.9A CN202010507407A CN111631910A CN 111631910 A CN111631910 A CN 111631910A CN 202010507407 A CN202010507407 A CN 202010507407A CN 111631910 A CN111631910 A CN 111631910A
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- 238000012549 training Methods 0.000 title claims abstract description 56
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- 210000000629 knee joint Anatomy 0.000 claims abstract description 17
- 238000005452 bending Methods 0.000 claims abstract description 16
- 210000004394 hip joint Anatomy 0.000 claims abstract description 16
- 210000000689 upper leg Anatomy 0.000 claims description 82
- 230000007246 mechanism Effects 0.000 claims description 69
- 210000003423 ankle Anatomy 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 15
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
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- 210000003041 ligament Anatomy 0.000 abstract description 2
- 210000005036 nerve Anatomy 0.000 abstract description 2
- 210000002414 leg Anatomy 0.000 description 10
- 238000001356 surgical procedure Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a lower limb joint rehabilitation training device which is simultaneously suitable for left and right lower limbs, is easy to adjust and fold, aims at different heights, can well simulate the rotation, bending and stretching motions of hip joints and knee joints of a human body, and is particularly suitable for rehabilitation training of patients after knee joint replacement operations, hip joint replacement operations, ligament operations, lower limb nerve operations and other operations.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a foldable lower limb joint rehabilitation training device.
Background
With the increasing aging degree of the society, the limb functions are reduced or even completely lost due to cerebral apoplexy, spinal cord injury, arthritis and the like, and the life quality of people is seriously influenced. In China, more than 1 hundred million of old people exist, and about 40 percent of people have symptoms of osteoarthritis. The knee joint replacement surgery and the hip joint replacement surgery which follow the surgery effectively relieve the pain caused by the arthritis of the human body, but the rehabilitation after the surgery is also particularly important. The traditional treatment mode needs experienced therapists to perform rehabilitation treatment on one-to-one basis with patients, needs the therapists to have real understanding of human anatomy, and needs a large amount of physical labor. Therefore, the continuous passive rehabilitation equipment can be produced at the same time, is used for the rehabilitation training of the lower limb of the human body after operation, and greatly relieves the shortage of doctor resources.
However, such rehabilitation devices have more significant drawbacks: first, they are often very bulky, difficult to move, and long, and the device needs to be placed on a bed or mattress for use, thus requiring a great deal of effort to move to the bed, and the patient can only go to a hospital for rehabilitation training. Secondly, the hip joint rotation center of the device deviates greatly from the actual hip joint rotation center, which is easy to cause the compression of the knee joint to cause secondary injury, so that better rehabilitation training can be realized only in a small range of angles. Moreover, such devices involve the adjustment of large and small legs, the thigh adjustment is troublesome, the adjustment needs to be carried out according to the length of the thigh of a human body, the shank adjustment is affected by the height of the shank bracket, and the shank part needs to be lifted to be high to adapt to more people in order to prevent the shank part from colliding with the shell. In addition, the degree of intellectualization of such equipment is low, can not provide individualized training parameter for the patient, can not upload patient's rehabilitation training data to devices such as panel computer, and the doctor can't know patient's recovered condition the very first time.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a lower limb joint rehabilitation training device that is suitable for both left and right lower limbs, is easily adjustable, lightweight, and foldable for different heights, can well simulate the rotation, flexion, and extension movements of the hip joint and the knee joint of a human body, and is particularly suitable for post-operative rehabilitation training of patients in knee joint replacement surgery, hip joint replacement surgery, ligament surgery, lower limb nerve surgery, and the like.
In order to achieve the above object, the present invention provides a foldable lower limb joint rehabilitation training device, comprising:
the flexion and extension mechanism can rotate around the first pivot shaft and the second pivot shaft so as to drive the thigh of the patient to rotate around the hip joint and the shank of the patient to rotate around the knee joint, so that the lower limb of the patient can perform flexion and extension movement;
the power mechanism is mechanically connected with the bending and stretching mechanism and is used for providing power for the bending and stretching mechanism to perform bending and stretching movement;
the control mechanism is electrically connected with the power mechanism and used for controlling the motion of the power mechanism and locally storing and/or sending the motion data to the intelligent terminal; and the number of the first and second groups,
the bottom plate is used for supporting and fixing the bending and stretching mechanism, the power mechanism and the control mechanism.
Further, the flexion and extension mechanism comprises a first pivoting mechanism, a second pivoting mechanism and a sliding mechanism.
Further, the first pivot mechanism includes a first rotating bracket, a rotating bracket connector, a thigh rotating lever sleeve, a first connecting piece, a thigh bracket, and a thigh bracket. Wherein, the first rotating bracket and the thigh bracket are one; the rotary bracket connectors, the thigh rotary rods, the thigh rotary rod sleeves, the first connecting pieces and the thigh bracket supports are all two and are distributed in bilateral symmetry approximately along the central axis in the length direction of the base plate. The first rotating bracket is fixed at one end of the bottom plate through a pipe clamp, and the first rotating bracket can rotate around a first pivot shaft. Two ends of the first rotating bracket are respectively inserted into the rotating bracket connectors and are locked through the spiral knobs. One end of the thigh rotating rod is inserted into the rotating bracket connector, and the other end is inserted into the thigh rotating rod sleeve. The length of the thigh rotating rod inserted into the thigh rotating rod sleeve can be adjusted and is locked by a screw, and the structure enables the total length of the thigh rotating rod and the thigh rotating rod sleeve to be adjusted to adapt to the thigh lengths of different patients. The thigh rotating rod sleeve is connected with the thigh bracket through a first connecting piece. The first connecting piece is an arc-shaped connecting piece, and two ends of the first connecting piece are respectively connected with the thigh rotating rod sleeve and the thigh bracket support through the bearings in a pivot mode. The thigh support is mounted on a thigh support frame for supporting at least a portion of a patient's thigh, preferably made of a soft material.
Further, the second pivoting mechanism comprises a U-shaped push rod, a second connecting piece, a U-shaped support, a shank telescopic rod sleeve, a shank bracket, a sole bracket, a third connecting piece and a fourth connecting piece. Wherein, the U-shaped push rod, the U-shaped bracket, the shank bracket, the sole bracket, the third connecting piece and the fourth connecting piece are one; the second connecting piece, the shank telescopic rod and the shank telescopic rod sleeve are two and are distributed in bilateral symmetry approximately along the central axis of the length direction of the bottom plate. The U-shaped push rod comprises two vertical rods and a cross rod, the upper ends of the two vertical rods are respectively in pivot connection with one end, far away from the thigh rotating rod, of the thigh rotating rod sleeve through one end of the second connecting piece, and the connecting line of the two pivots forms a second pivot shaft. The center of the cross bar of the U-shaped push rod is connected with the sliding mechanism through a third connecting piece. The other end of the second connecting piece is connected with a shank telescopic rod sleeve, and one end of the shank telescopic rod sleeve is pivotally connected with one end of the thigh bracket support; the other end of the shank telescopic rod sleeve is inserted by one end of the shank telescopic rod. The length of the shank telescopic rod inserted into the shank telescopic rod sleeve can be adjusted and is locked through a screw, and the total length of the shank telescopic rod and the shank telescopic rod sleeve can be adjusted by the structure so as to adapt to the shank lengths of different patients. The shank telescopic rod is provided with scales so as to conveniently adjust the length of the shank telescopic rod inserted into the shank telescopic rod sleeve. A lower leg support is mounted on the lower leg extension bar sleeve for supporting at least a portion of the lower leg of the patient, preferably made of a soft material. The other end of the shank telescopic rod is provided with a sole bracket for supporting at least one part of the sole of the patient. The U-shaped support comprises two vertical rods and a cross rod, the upper ends of the two vertical rods are respectively connected with the middle section pivots of the two shank telescopic rods, and the center of the cross rod is connected with the sliding mechanism through a fourth connecting piece.
Further, the sole bracket includes an ankle strap, an ankle support plate, and a sole support plate. The ankle strap is preferably made of a soft material. The both sides of ankle layer board have first arc hole respectively, and adjust knob passes first arc hole from top to bottom and locks ankle layer board and shank telescopic link, locks through the different positions of selecting first arc hole, can adjust the position and the angle of ankle layer board at the upper and lower direction, and the radian in first arc hole is 60 degrees. The back of ankle layer board has the second arc hole, controls adjust knob and passes second arc hole and lock ankle layer board and sole layer board. Different positions through selecting the second arc hole are locked, the position of the ankle supporting plate in the left and right directions can be adjusted, and the radian of the second arc hole is 60 degrees.
Further, the sliding mechanism comprises a guide rail, a sliding block connecting piece, a first sliding block and a second sliding block. The guide rail extends along the length direction of the bottom plate and is approximately positioned on the central axis of the bottom plate along the length direction. The first sliding block and the second sliding block are fixedly connected with the sliding block connecting piece respectively, and the sliding block connecting piece can slide along the guide rail, so that the sliding block connecting piece can drive the first sliding block and the second sliding block to slide along the guide rail. A plurality of adjusting holes are equidistantly distributed on the upper surface of the first sliding block along the direction of the guide rail, and the fourth connecting piece is inserted into one of the adjusting holes in a pluggable mode and then locked through the knob. This arrangement allows the distance between the U-shaped bracket and the second pivot axis to be adjusted to accommodate the length of the lower leg of different patients. The second sliding block is pivotally connected with the third connecting piece.
Furthermore, the power mechanism comprises a power supply, a screw motor, a coupler, a screw connector and a screw fixing frame. The power supply is preferably a rechargeable lithium battery and is fixed on the bottom plate through a fixing frame. The screw motor is preferably a direct current speed reduction motor, which is electrically connected with and powered by a power supply. The screw rod extends along the length direction of the bottom plate and is parallel to the guide rail, and two ends of the screw rod are offset to one side of the bottom plate through the screw rod fixing frame. One end of the screw rod is connected with an output shaft of the screw rod motor through a coupler, so that a screw rod connector on the screw rod can reciprocate along the screw rod under the driving of the screw rod motor. The screw rod connector is fixedly connected with the sliding block connecting piece, so that when the screw rod connector reciprocates along the screw rod, the sliding block connecting piece can be driven to reciprocate along the guide rail, the U-shaped push rod and the U-shaped support are driven to reciprocate along the direction of the guide rail, and the bending and stretching mechanism is driven to bend and stretch.
Further, the control mechanism comprises a circuit board, a controller, a power button, an emergency stop button and a Hall sensor.
Further, the circuit board is electrically connected with a power supply, and the power supply supplies power. The circuit board comprises a microprocessor and a wireless communication module. The microprocessor is used for receiving and processing data or instructions from the controller, the power supply button, the emergency stop button, the Hall sensor, the power supply, the screw rod motor and other functional modules and controlling the functional modules. The wireless communication module is used for sending the training information to an intelligent terminal, such as a mobile phone or a computer, for a doctor to check. The wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules, and is preferably a Bluetooth communication module.
Further, the controller includes a display screen and an input device. The display screen is used for displaying the training mode and the training parameter information, preferably an LCD or LED display screen, and more preferably a touch-control type LCD or LED display screen. The input device is used for receiving the instruction of the patient to set the training mode and the training parameters, and is selected from one or more of a mouse, a keyboard, a voice input device, entity keys or a touch display screen, preferably the touch display screen (namely the display screen and the input device are integrated).
Further, a power button is used for switching the power of the device; the scram button is used to stop the device immediately in case of emergency. Preferably, the power button and the emergency stop button are located at an end of the base plate near the patient so as to be easily accessible to the patient.
Further, the hall sensor is used for limiting the operation area of the device flexion and extension mechanism.
Furthermore, the bottom plate is made of hard aluminum alloy, the length of the bottom plate is 70-80cm, and the length of the bottom plate is approximately equal to that of one leg; the width of the leg is 20-30cm and is approximately equivalent to the width of one leg; compared with the prior art, the rehabilitation device is lighter and more beautiful.
Furthermore, most of the parts of the foldable lower limb joint rehabilitation training device are made of hard aluminum alloy materials, so that the foldable lower limb joint rehabilitation training device has high strength, is light and attractive.
Furthermore, the device is also provided with a soft support at the knee joint of the patient, such as a cotton knee support, so that the rotation of the hip joint of the human body can be basically simulated, the discomfort of the patient in the flexion and extension movement process is reduced, and the rehabilitation comfort level of the patient is increased.
The foldable lower limb joint rehabilitation training device disclosed by the invention at least has the following beneficial technical effects:
(1) the device can simulate the rotation of hip joint and knee joint of human body to perform flexion and extension movement. The thigh lifting part adopts a pentagonal lifting mechanism, and when flexion and extension movement is carried out, a knee joint rotating shaft is basically superposed with a rotating shaft of a hip joint of a human body after being translated along the thigh direction, so that the device can well simulate the rotating centers of the hip joint and the knee joint to carry out rotary flexion and extension movement, and avoid pressing the knee joint of a patient, thereby causing secondary injury.
(2) The device adopts a structure that the side lead screw is in transmission fit with the middle double-slider at the bottom, and the U-shaped bracket is additionally arranged on the device to adjust the length of the shank, so that the device has a novel structure, and overcomes the defects that the shank length of other products on the market is too long to adjust and easily hits the shell in the operation process.
(3) The device adopts the pentagonal lifting mechanism, the knee joint is additionally provided with the soft support, the rotation of the hip joint of a human body can be basically simulated, the discomfort of a patient in the flexion and extension movement process is reduced, and the recovery comfort level of the patient is increased.
(4) This device structural design is exquisite, adopts chargeable lithium cell as the power, and the stereoplasm aluminum alloy is chooseed for use to the material to choose for use small-size lead screw to carry out the transmission, whole weight is steerable within 10 kg. The device is convenient to fold, the occupied area and the volume after being folded are small, and the device is lighter and more attractive compared with a rehabilitation device with dozens of kilograms in the prior art.
Drawings
FIG. 1 is a schematic structural view of a foldable lower limb joint rehabilitation training device in a flexed state (without a base plate housing) according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a foldable lower limb joint rehabilitation training device in a flexed state at another angle (without a base plate housing) according to a preferred embodiment of the present invention;
FIG. 3 is a schematic structural view of a foldable lower limb joint rehabilitation training device in a straightened state (without a bottom plate housing) according to a preferred embodiment of the invention;
FIG. 4 is a schematic structural view of a foldable lower limb joint rehabilitation training device in a flexed state (including a base plate housing) according to a preferred embodiment of the present invention;
FIG. 5 is a schematic structural view of the foldable lower limb joint rehabilitation training device of the present invention, which adjusts the lower leg extension rod to the maximum extended state and the maximum flexed state (including the bottom plate housing);
FIG. 6 is a schematic structural view of the foldable lower limb joint rehabilitation training device of the present invention in the extended and flexed states (including the bottom plate housing) when the lower leg extension rod is adjusted to the shortest length;
fig. 7 is a schematic structural view of a foldable lower limb joint rehabilitation training device (including a bottom plate outer shell) in a folded state according to a preferred embodiment of the invention.
Detailed Description
The following examples are given to illustrate the present invention in detail, and the following examples are given to illustrate the detailed embodiments and specific procedures of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1-4, in a preferred embodiment, the foldable lower limb joint rehabilitation training device of the present invention comprises:
the flexion-extension mechanism can rotate around a first pivot axis AA 'and a second pivot axis BB' so as to drive the thigh of the patient to rotate around the hip joint and the shank of the patient to rotate around the knee joint, so that the lower limb of the patient can perform flexion-extension movement;
the power mechanism is mechanically connected with the bending and stretching mechanism and is used for providing power for the bending and stretching mechanism to perform bending and stretching movement;
the control mechanism is electrically connected with the power mechanism and used for controlling the motion of the power mechanism and locally storing and/or sending the motion data to the intelligent terminal; and the number of the first and second groups,
and the bottom plate 6 is used for supporting and fixing the bending and stretching mechanism, the power mechanism and the control mechanism.
The flexion and extension mechanism comprises a first pivoting mechanism, a second pivoting mechanism and a sliding mechanism; wherein,
the first pivoting mechanism includes a first rotating bracket 11, a rotating bracket connector 12, a thigh rotating lever 13, a thigh rotating lever sleeve 14, a first link 15, a thigh bracket 16, and a thigh bracket 17. Wherein, the first rotating bracket 11 and the thigh bracket 16 are one; the two rotary bracket connectors 12, the two thigh rotary rods 13, the two thigh rotary rod sleeves 14, the two first connecting members 15, and the two thigh bracket supports 17 are arranged approximately in bilateral symmetry along the central axis of the base plate 6 in the length direction. The first rotating bracket 11 is fixed to one end of the base plate 6 by a pipe clamp 18, and the first rotating bracket 11 is rotatable about a first pivot axis AA'. Both ends of the first rotating bracket 11 are inserted into the rotating bracket connectors 12, respectively, and locked by the screw knobs 19. One end of the thigh rotating lever 13 is inserted into the rotating bracket connector 12, and the other end is inserted into the thigh rotating lever sleeve 14. The length of the thigh rotating rod 13 inserted into the thigh rotating rod sleeve 14 can be adjusted and locked by a screw, and the structure enables the total length of the thigh rotating rod 13 and the thigh rotating rod sleeve 14 to be adjusted to adapt to the thigh length of different patients. The thigh pivot lever sleeve 14 is connected to the thigh carrier bracket 17 by a first connecting piece 15. The first link 14 is an arc-shaped link, both ends of which are pivotally connected to the thigh rotating lever sleeve 14 and the thigh bracket 17, respectively, through bearings. The thigh support 16 is mounted on a thigh support bracket 17 for supporting at least a portion of the patient's thigh, preferably made of a soft material.
The second pivoting mechanism comprises a U-shaped push rod 21, a second connecting piece 22, a U-shaped bracket 23, a shank telescopic rod 24, a shank telescopic rod sleeve 25, a shank bracket 26, a sole bracket 27, a third connecting piece 28 and a fourth connecting piece 29. Wherein, the U-shaped push rod 21, the U-shaped bracket 23, the shank bracket 26, the sole bracket 27, the third connecting piece 28 and the fourth connecting piece 29 are one; the second connecting pieces 22, the shank telescopic rods 24 and the shank telescopic rod sleeves 25 are all two and are approximately distributed in bilateral symmetry along the central axis of the bottom plate 6 in the length direction. The U-shaped push rod 21 comprises two vertical rods and a cross rod, the upper ends of the two vertical rods are pivotally connected to the end of the thigh pivot rod sleeve 14 remote from the thigh pivot rod 13 via one end of the second connecting member 22, respectively, and the connection of the two pivot points forms the second pivot axis BB'. The centre of the cross bar of the U-shaped push rod 21 is connected to the sliding mechanism by a third link 28. The other end of the second connecting piece 22 is connected with a shank telescopic rod sleeve 25, and one end of the shank telescopic rod sleeve 25 is pivotally connected with one end of the thigh bracket support 17; the other end of the lower leg extension bar sleeve 25 is inserted by one end of the lower leg extension bar 24. The length of the shank telescopic rod 24 inserted into the shank telescopic rod sleeve 25 can be adjusted and is locked by screws, and the total length of the shank telescopic rod 24 and the shank telescopic rod sleeve 25 can be adjusted by the structure so as to adapt to the shank length of different patients. The shank rod 24 is graduated to facilitate the adjustment of the length of the shank rod sleeve 25. A lower leg support 26 is mounted on the lower leg extension bar sleeve 25 for supporting at least a portion of the lower leg of the patient, preferably made of a soft material. The other end of the calf extension pole 24 is fitted with a sole bracket 27 for supporting at least a portion of the patient's sole. The U-shaped support 23 includes two vertical bars and a cross bar, the upper ends of the two vertical bars are respectively pivotally connected to the middle sections of the two shank telescopic rods 24, and the center of the cross bar is connected to the sliding mechanism through a fourth connecting member 29.
The ball support 27 includes an ankle strap 271, an ankle platform 272, and a ball platform 277. The ankle strap 271 is preferably made of a soft material. The both sides of ankle layer board 272 have arc hole 275, and adjust knob 273 passes arc hole 275 and locks ankle layer board 272 and shank telescopic link 24, locks through the different positions of selecting arc hole 275, can adjust ankle layer board 272 in the position and the angle of direction from top to bottom, and the radian of arc hole 275 is 60 degrees. The back of the ankle plate 272 has an arc-shaped hole 276, and the left and right adjusting knobs 274 pass through the arc-shaped hole 276 to lock the ankle plate 272 to the sole plate 277. The position of the ankle supporting plate 272 in the left-right direction can be adjusted by selecting different positions of the arc-shaped hole 276 for locking, and the radian of the arc-shaped hole 276 is 60 degrees.
The slide mechanism includes a guide rail 31, a slider link 32, a first slider 33, and a second slider 34. The guide rail 31 extends in the longitudinal direction of the base plate 6 and is located substantially on the central axis of the base plate 6 in the longitudinal direction. The first slider 33 and the second slider 34 are respectively fixedly connected with the slider connecting piece 32, and the slider connecting piece 32 can slide along the guide rail 31, so that the slider connecting piece 32 can drive the first slider 33 and the second slider 34 to slide along the guide rail. A plurality of adjusting holes (7 in the figure) are distributed on the upper surface of the first sliding block 33 along the direction of the guide rail, and the fourth connecting piece 29 is inserted into one of the adjusting holes in a pluggable mode and then locked by a knob. This arrangement allows the distance between the U-shaped bracket 23 and the second pivot axis BB' to be adjusted to accommodate different patient leg lengths. The second slider 34 is pivotally connected to the third link 28.
The power mechanism comprises a power supply 41, a screw motor 42, a coupler 43, a screw 44, a screw connector 45 and a screw fixing frame 46. The power source 41 is preferably a rechargeable lithium battery, and is fixed to the base plate 6 by a fixing bracket. The screw motor 42 is preferably a dc speed reduction motor, and is electrically connected to the power source 41 and supplied with power from the power source 41. The screw 44 extends along the length direction of the base plate 6, is parallel to the guide rail 31, and has both ends fixed to the base plate 6 by screw fixing brackets. One end of the screw 44 is connected to an output shaft of the screw motor 42 through a coupling 43, so that the screw connector 45 on the screw 44 can reciprocate along the screw 44 under the driving of the screw motor 42. The screw rod connector 45 is fixedly connected with the slider connecting piece 32, so that when reciprocating along the screw rod 44, the slider connecting piece 32 can be driven to reciprocate along the guide rail 31, and the U-shaped push rod 21 and the U-shaped bracket 23 are driven to reciprocate along the direction of the guide rail 31, so as to drive the bending and stretching mechanism to perform bending and stretching movement.
The control mechanism includes a circuit board 51, a controller 52, a power button 53, an emergency stop button 54, and a hall sensor 55.
The circuit board 51 is electrically connected to the power source 41 and is supplied with power from the power source 41. The circuit board 51 includes a microprocessor (not shown) and a wireless communication module (not shown). The microprocessor is used for receiving and processing data or instructions from the controller 52, the power button 53, the emergency stop button 54, the hall sensor 55, the power supply 41, the lead screw motor 42 and other functional modules, and controlling the functional modules. The wireless communication module is used for sending the training information to an intelligent terminal, such as a mobile phone or a computer, for a doctor to check. The wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules, and is preferably a Bluetooth communication module.
The controller 52 includes a display screen for displaying training patterns and training parameter information and an input device; the input device is used to receive patient instructions to set up a training mode and training parameters. The input device may be a mouse, a keyboard, a voice input device, physical keys, or a touch display screen, preferably a touch display screen.
The power button 53 is used to switch the power supply 41 of the apparatus; the scram button 54 is used to immediately stop the device in case of an emergency. Preferably, the power button 53 and the emergency stop button 54 are located at the end of the bottom panel 6 near the patient so as to be easily accessible to the patient.
The hall sensor 55 is used to limit the operating area of the device flexion and extension mechanism.
The bottom plate 6 is made of hard aluminum alloy, the length of the bottom plate is 70-80cm, and the length of the bottom plate is approximately equal to that of one leg; the width of the leg is 20-30cm and is approximately equivalent to the width of one leg; compared with the prior art, the rehabilitation device is lighter and more beautiful.
In a typical usage scenario, the foldable lower limb joint rehabilitation training device of the invention is used in a method comprising the following steps:
Step 2, selecting a proper training mode (the rehabilitation mode is divided into an automatic mode and a manual mode) through an LCD touch liquid crystal screen of the controller 52, setting training parameters (the training parameters comprise the angle, the speed, the time and the like of flexion and extension movement), and completely extending and stopping the device after the device runs for 3 minutes in a trial mode;
step 3, putting the thigh of the leg of the patient needing rehabilitation on the thigh bracket 16, putting the calf on the calf bracket 26, stepping the sole on the sole bracket 27, and roughly positioning the knee above the knee joint rotating shaft CC'; at this time, the knee joint rotation axis CC 'substantially coincides with the hip joint rotation axis OO' of the human body after being translated in the thigh direction;
and 4, starting by clicking on an LCD touch liquid crystal display of the controller 52 or interactive software of an intelligent terminal (such as a mobile phone or a computer) to start rehabilitation training. The microprocessor calculates the distance and time of the lead screw 44 required to move through an algorithm according to the training mode and the training parameters set by the patient, and then drives the lead screw motor 42 to operate, so that the device performs flexion and extension movement according to the mode set by the patient, and drives the lower limb of the patient to realize flexion and extension, thereby achieving the purpose of rehabilitation. In the training process, the device records the training information of the patient, and sends the training information to the intelligent terminal through the wireless communication module for the doctor to check.
Step 5, after the rehabilitation training is finished, the patient moves the legs away from the device, the fourth connecting piece 29 is pulled out of the adjusting hole in the first sliding block 33 and laid down, then the left and right spiral knobs 19 are screwed out, the thigh rotating rod 13 is pulled out of the rotating bracket connector 12 and laid down, and the folding of the device can be finished, wherein the folded structure of the device is shown in fig. 7. In the embodiment, the length, width and height of the folded device are 76cm multiplied by 23cm multiplied by 18cm, the volume and the occupied area are small, and the device is very light and beautiful.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A foldable lower limb joint rehabilitation training device, comprising:
the flexion and extension mechanism can rotate around the first pivot shaft and the second pivot shaft so as to drive the thigh of the patient to rotate around the hip joint and the shank of the patient to rotate around the knee joint, so that the lower limb of the patient can perform flexion and extension movement;
the power mechanism is mechanically connected with the bending and stretching mechanism and is used for providing power for the bending and stretching mechanism to perform the bending and stretching movement;
the control mechanism is electrically connected with the power mechanism and used for controlling the motion of the power mechanism and locally storing and/or sending the motion data to the intelligent terminal; and the number of the first and second groups,
and the bottom plate is used for supporting and fixing the bending and stretching mechanism, the power mechanism and the control mechanism.
2. The foldable lower limb joint rehabilitation training device of claim 1, wherein the flexion and extension mechanism comprises a first pivot mechanism, a second pivot mechanism and a sliding mechanism; wherein,
the first pivoting mechanism comprises a first rotating bracket, a rotating bracket connector, a thigh rotating rod sleeve, a first connecting piece, a thigh bracket and a thigh bracket; wherein the first rotating bracket and the thigh bracket are one; the rotary bracket connectors, the thigh rotary rods, the thigh rotary rod sleeves, the first connecting pieces and the thigh bracket supports are all two and are distributed in bilateral symmetry approximately along a central axis in the length direction of the base plate; the first rotating bracket is fixed at one end of the bottom plate through a pipe clamp and can rotate around the first pivot shaft; two ends of the first rotating bracket are respectively inserted into the rotating bracket connector and locked by a spiral knob; one end of the thigh rotating rod is inserted into the rotating bracket connector, and the other end of the thigh rotating rod is inserted into the thigh rotating rod sleeve; the length of the thigh rotating rod inserted into the thigh rotating rod sleeve can be adjusted and can be locked by a screw; the thigh rotating rod sleeve is connected with the thigh bracket through the first connecting piece; the first connecting piece is an arc-shaped connecting piece, and two ends of the first connecting piece are respectively connected with the thigh rotating rod sleeve and the thigh bracket support through a bearing in a pivot way; said thigh support being mounted on said thigh support frame for supporting at least a portion of a patient's thigh;
the second pivoting mechanism comprises a U-shaped push rod, a second connecting piece, a U-shaped support, a shank telescopic rod sleeve, a shank bracket, a sole bracket, a third connecting piece and a fourth connecting piece; the U-shaped push rod, the U-shaped support, the shank bracket, the sole bracket, the third connecting piece and the fourth connecting piece are one; the two second connecting pieces, the two shank telescopic rods and the two shank telescopic rod sleeves are distributed symmetrically left and right along a central axis of the bottom plate in the length direction; the U-shaped push rod comprises two vertical rods and a cross rod, the upper ends of the two vertical rods are respectively in pivot connection with one end, far away from the thigh rotating rod, of the thigh rotating rod sleeve through one end of the second connecting piece, and the connection line of the two pivots forms the second pivot shaft; the center of the cross bar of the U-shaped push rod is connected with the sliding mechanism through the third connecting piece; the other end of the second connecting piece is connected with the shank telescopic rod sleeve, and one end of the shank telescopic rod sleeve is pivotally connected with one end of the thigh bracket support; the other end of the shank telescopic rod sleeve is inserted into one end of the shank telescopic rod; the length of the shank telescopic rod inserted into the shank telescopic rod sleeve can be adjusted and can be locked by a screw; scales are arranged on the shank telescopic rod; the shank bracket is arranged on the shank telescopic rod sleeve and is used for supporting at least one part of the shank of the patient; the other end of the shank telescopic rod is provided with the sole bracket which is used for supporting at least one part of the sole of the patient; the U-shaped support comprises two vertical rods and a cross rod, the upper ends of the two vertical rods are respectively connected with the middle section pivots of the shank telescopic rods, and the center of the cross rod is connected with the sliding mechanism through the fourth connecting piece.
The sliding mechanism comprises a guide rail, a sliding block connecting piece, a first sliding block and a second sliding block; the guide rail extends along the length direction of the bottom plate and is approximately positioned on the central axis of the bottom plate along the length direction; the first sliding block and the second sliding block are fixedly connected with the sliding block connecting piece respectively, and the sliding block connecting piece can slide along the guide rail, so that the sliding block connecting piece can drive the first sliding block and the second sliding block to slide along the guide rail.
3. The collapsible lower limb joint rehabilitation training device of claim 2, wherein the sole carrier comprises an ankle strap, an ankle support plate, and a sole support plate; two sides of the ankle supporting plate are respectively provided with a first arc-shaped hole, an up-down adjusting knob penetrates through the first arc-shaped holes to lock the ankle supporting plate and the shank telescopic rod, and the radian of the first arc-shaped holes is 60 degrees; the back surface of the ankle supporting plate is provided with a second arc-shaped hole, and a left adjusting knob and a right adjusting knob penetrate through the second arc-shaped hole to lock the ankle supporting plate and the sole supporting plate; the radian of the second arc-shaped hole is 60 degrees.
4. The foldable lower limb joint rehabilitation training device of claim 2, wherein a plurality of adjusting holes are equidistantly distributed on the upper surface of the first sliding block along the direction of the guide rail, and the fourth connecting piece is inserted into one of the adjusting holes in an inserting and pulling manner and then can be locked by a knob; the second sliding block is pivotally connected with the third connecting piece.
5. The foldable lower limb joint rehabilitation training device of claim 2, wherein the power mechanism comprises a power source, a lead screw motor, a coupling, a lead screw connector and a lead screw fixing frame; the power supply is a rechargeable lithium battery and is fixed on the bottom plate through a fixing frame; the screw rod motor is a direct current speed reducing motor, is electrically connected with the power supply and is powered by the power supply; the screw rod extends along the length direction of the bottom plate and is parallel to the guide rail, and two ends of the screw rod are offset to one side of the bottom plate through a screw rod fixing frame; one end of the screw rod is connected with an output shaft of the screw rod motor through the coupler; the screw rod connector is fixedly connected with the sliding block connecting piece.
6. The foldable lower limb joint rehabilitation training device of claim 2, wherein the control mechanism comprises a circuit board, a controller, a power button, an emergency stop button and a hall sensor.
7. The foldable lower limb joint rehabilitation training device of claim 6, wherein the circuit board is electrically connected to the power source and powered by the power source; the circuit board comprises a microprocessor and a wireless communication module; the microprocessor is used for receiving and processing data or instructions from the controller, the power supply button, the emergency stop button, the Hall sensor, the power supply and the screw rod motor and controlling the data or instructions; the wireless communication module is used for sending training information to the intelligent terminal; the wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules.
8. The foldable lower limb joint rehabilitation training device of claim 6, wherein the controller comprises a display screen and an input device; the display screen is an LCD or LED display screen; the input equipment is selected from one or more of a mouse, a keyboard, voice input equipment, entity keys or a touch display screen.
9. The foldable lower limb joint rehabilitation training device of claim 6, wherein the power button and the emergency stop button are located at an end of the base plate near the patient so that the patient can easily touch the power button and the emergency stop button.
10. The foldable lower limb joint rehabilitation training device of claim 2, wherein the bottom plate is made of hard aluminum alloy, and has a length of 70-80cm and a width of 20-30 cm.
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| CN114129395A (en) * | 2021-12-15 | 2022-03-04 | 上海念通智能科技有限公司 | Lower limb joint rehabilitation training device |
| CN115177919A (en) * | 2022-07-14 | 2022-10-14 | 延安市中医医院 | Joint surgery postoperative rehabilitation training auxiliary device |
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| CN115177919B (en) * | 2022-07-14 | 2024-07-05 | 延安市中医医院 | Joint surgery postoperative rehabilitation training auxiliary device |
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